Abstract
This application discloses a robot positioning method based on a multi-layer grid map, a chip and a laser robot, the robot positioning method includes: collecting, by the robot, data of laser points by using a laser sensor; obtaining, by the robot, multiple layers of grid maps layer by layer in order from low resolution to high resolution; traversing, by the robot, candidate solutions in a current layer of grid map; controlling a plurality of occupancy probability values obtained correspondingly for the data of laser points at a currently traversed candidate solution to be sequentially summed when the robot determines that the currently traversed candidate solution is a feasible solution; setting, based on a ratio of a resolution of a next layer of grid map to a resolution of the current layer of grid map, the determined feasible solution as a candidate solution of the next layer of grid map; recursively determining feasible solutions in candidate solutions of the layers of grid map in the order from low resolution to high resolution until an optimal feasible solution is determined, and setting the optimal feasible solution as a re-localization result of the robot.